A MUltidimensional Compliant Decoupled Actuator (MUCDA) for pelvic support during gait

Journal article (2019)

Authors

Dario Wyss ETH Zürich
Andrew Pennycott ETH Zürich
Paul Bartenbach ETH Zürich
Robert Riener ETH Zürich
H. Vallery Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 Dario Wyss, Andrew Pennycott, Paul Bartenbach, Robert Riener, H. Vallery
DOI: https://doi.org/10.1109/TMECH.2018.2878289
Haptics Rehabilitation Force Legged locomotion Actuators Springs Pelvis Robot sensing systems Series Elastic Actuator
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Published Date

2019

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

Series Elastic Actuation decouples actuator inertia from the interaction ports and is thus advantageous for force-controlled devices. Parallel or even passive compliance can fulfill a complementary role by compensating for gravitational or periodic inertial forces or by providing passive guidance. Here, these concepts are combined in an underactuated six degree of freedom (DoF) compliant manipulator with one actuated DoF. The mechanism comprises a spring assembly in which each spring serves as an actuation element and simultaneously provides passive compliance in the unactuated DoF. The device is designed to assist weight shifting via controlled lateral forces on a human pelvis during treadmill walking and its eigenfrequencies are tuned to align with normal gait. Six-DoF force and torque sensing are realized via a model of the spring deformation characteristics in combination with low-cost inertial and optical sensors. Experimental evaluation demonstrates that the system can effectively follow physiological weight shifting with low interaction forces and also has little impact on remaining pelvis motions.

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